version: 66.06
glider: 139
mission: 8
dive: 247
start: 8 22 110 17 45 31
data:
$ID,139
$MISSION,8
$DIVE,247
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,600
$D_NO_BLEED,90
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,190
$T_MISSION,220
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,60
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52108
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21.25
$TGT_DEFAULT_LON,-158
$TGT_AUTO_DEFAULT,0
$SM_CC,410
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2155720.5
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,3100
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,227
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,1695
$C_ROLL_CLIMB,1770
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,2630
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.705256
$PRESSURE_SLOPE,0.000116328
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043401681
$SEABIRD_T_H,0.00063043466
$SEABIRD_T_I,2.4021314e-05
$SEABIRD_T_J,2.5358199e-06
$SEABIRD_C_G,-9.8272314
$SEABIRD_C_H,1.0932546
$SEABIRD_C_I,-0.0012359815
$SEABIRD_C_J,0.00017717193
$GPS1,173001,2107.471,-15757.474,13,2.0,13,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-71.6
$GPS2,174514,2107.424,-15757.492,14,1.6,14,9.8
$SPEED_LIMITS,0.137,0.159
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,87.0,25358,-23.8,-7.895
$D_GRID,450
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.56,-58.4,0.0,0.0,0,82,0.00,0.00,-64.12,0.000,2,0.000,0.000,426,1669,2745,0,0,0,0,0,0
$GC,86,-1.56,-58.4,3.2,-3.2,12,110,12.50,2.42,-2.38,0.000,4,0.134,0.055,2753,286,2872,0,0,0,0,0,0
$GC,119,-0.34,-58.4,14.9,-25.7,17,126,1.27,2.35,0.00,0.000,6,0.087,0.018,3024,1735,2873,0,0,0,0,0,0
$GC,321,-0.90,-58.4,26.2,-4.1,63,328,0.50,2.47,0.00,0.000,4,0.031,0.040,2889,288,2874,0,0,0,0,0,0
$GC,400,-1.12,-58.4,33.6,-10.9,75,406,0.12,2.25,0.00,0.000,6,0.031,0.018,2841,1699,2874,0,0,0,0,0,0
$GC,661,-1.24,-58.4,68.4,-14.3,96,665,0.00,2.42,0.00,0.000,4,0.000,0.047,2839,290,2874,0,0,0,0,0,0
$GC,692,-1.30,-58.4,73.5,-16.9,98,697,0.10,2.20,0.00,0.000,6,0.074,0.018,2803,1708,2874,0,0,0,0,0,0
$GC,959,-1.39,-58.4,111.2,-13.8,119,963,0.00,2.42,0.00,0.000,4,0.000,0.046,2803,289,2875,0,0,0,0,0,0
$GC,1013,-1.45,-58.4,118.2,-13.3,123,1017,0.00,2.17,0.00,0.000,6,0.000,0.018,2803,1684,2875,0,0,0,0,0,0
$GC,1278,-1.60,-58.4,146.6,-10.3,144,1283,0.22,2.42,0.00,0.000,4,0.044,0.045,2736,284,2876,0,0,0,0,0,0
$GC,1298,-1.60,-58.4,149.5,-13.0,145,1304,0.00,2.22,0.00,0.000,6,0.000,0.018,2736,1708,2876,0,0,0,0,0,0
$GC,1558,-1.60,-58.4,184.9,-13.4,166,1562,0.00,2.42,0.00,0.000,4,0.000,0.045,2736,286,2876,0,0,0,0,0,0
$GC,1572,-1.60,-58.4,187.2,-14.1,167,1576,0.00,2.22,0.00,0.000,6,0.000,0.019,2736,1698,2875,0,0,0,0,0,0
$GC,1834,-1.60,-58.4,221.4,-12.2,182,1838,0.00,2.25,0.00,0.000,4,0.000,0.024,2736,3064,2876,0,0,0,0,0,0
$GC,1942,-1.70,-58.4,234.2,-11.6,186,1948,0.00,2.33,0.00,0.000,6,0.000,0.033,2737,1689,2876,0,0,0,0,0,0
$GC,2258,-1.75,-58.4,269.4,-9.6,202,2263,0.00,2.25,0.00,0.000,4,0.000,0.023,2736,3060,2876,0,0,0,0,0,0
$GC,2318,-1.86,-58.4,275.5,-10.0,204,2326,0.15,2.33,0.00,0.000,6,0.031,0.035,2684,1698,2876,0,0,0,0,0,0
$GC,2656,-1.82,-58.4,317.0,-13.1,218,2660,0.00,2.28,0.00,0.000,4,0.000,0.025,2685,3068,2875,0,0,0,0,0,0
$GC,2706,-1.82,-58.4,323.5,-11.4,219,2711,0.00,2.33,0.00,0.000,6,0.000,0.035,2684,1692,2875,0,0,0,0,0,0
$GC,3031,-1.78,-58.4,362.5,-12.5,227,3036,0.12,2.28,0.00,0.000,4,0.111,0.028,2708,3062,2872,0,0,0,0,0,0
$GC,3188,-1.85,-58.4,381.7,-12.5,230,3193,0.00,2.33,0.00,0.000,6,0.000,0.037,2708,1696,2871,0,0,0,0,0,0
$GC,3535,-1.85,-58.4,423.9,-12.4,239,3539,0.00,2.25,0.00,0.000,4,0.000,0.029,2708,3056,2869,0,0,0,0,0,0
$GC,3679,-1.92,-58.4,441.7,-11.3,242,3684,0.12,2.30,0.00,0.000,6,0.070,0.039,2673,1696,2868,0,0,0,0,0,0
$STATE,3752,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3752,begin apogee
$GC,3759,-0.31,0.0,450.7,12.3,244,3811,1.73,0.00,48.67,0.818,6,0.084,0.000,3031,1697,2630,0,0,0,0,0,0
$STATE,3812,end apogee,CONTROL_FINISHED_OK
$STATE,3812,begin climb
$GC,3815,1.56,58.4,452.3,0.0,245,3870,1.75,0.00,50.17,0.805,6,0.029,0.000,3449,1697,2391,0,0,0,0,0,0
$GC,4185,1.30,94.0,441.1,4.7,254,4222,0.32,0.00,31.05,0.800,6,0.106,0.000,3387,1697,2244,0,0,0,0,0,0
$GC,4547,1.15,94.0,408.5,9.4,263,4549,0.17,0.00,0.00,0.000,6,0.110,0.000,3353,1697,2238,0,0,0,0,0,0
$GC,4873,1.06,98.2,384.2,7.5,271,4877,0.00,2.42,0.00,0.000,4,0.000,0.032,3353,3129,2235,0,0,0,0,0,0
$GC,4987,1.05,132.3,377.5,4.8,273,5028,0.12,2.35,33.08,0.793,6,0.125,0.037,3331,1769,2090,0,0,0,0,0,0
$GC,5338,1.06,144.1,353.4,6.8,282,5355,0.00,2.55,10.88,0.712,4,0.000,0.054,3331,365,2042,0,0,0,0,0,0
$GC,5413,0.95,144.1,347.3,8.4,283,5418,0.12,2.28,0.00,0.000,6,0.123,0.027,3309,1742,2038,0,0,0,0,0,0
$GC,5754,0.98,144.1,318.5,8.9,292,5758,0.00,2.40,0.00,0.000,4,0.000,0.031,3309,3170,2036,0,0,0,0,0,0
$GC,5779,1.04,144.1,315.9,9.7,292,5783,0.00,2.42,0.00,0.000,6,0.000,0.040,3309,1772,2036,0,0,0,0,0,0
$GC,6101,1.09,144.1,282.7,9.6,304,6106,0.12,2.45,0.00,0.000,4,0.072,0.052,3344,356,2034,0,0,0,0,0,0
$GC,6154,0.97,144.1,277.4,11.3,306,6159,0.17,2.33,0.00,0.000,6,0.107,0.027,3310,1765,2033,0,0,0,0,0,0
$GC,6477,1.05,161.6,253.9,6.3,322,6500,0.00,2.55,15.35,0.694,4,0.000,0.052,3310,359,1970,0,0,0,0,0,0
$GC,6552,1.05,161.6,246.5,10.7,325,6557,0.00,2.35,0.00,0.000,6,0.000,0.025,3310,1779,1967,0,0,0,0,0,0
$GC,6879,1.12,161.6,217.0,8.6,341,6884,0.15,2.50,0.00,0.000,4,0.063,0.051,3352,352,1966,0,0,0,0,0,0
$GC,6926,1.02,161.6,211.8,10.9,343,6931,0.15,2.35,0.00,0.000,6,0.107,0.025,3324,1778,1965,0,0,0,0,0,0
$GC,7259,1.08,161.6,181.8,9.3,365,7263,0.00,2.33,0.00,0.000,4,0.000,0.028,3324,3172,1965,0,0,0,0,0,0
$GC,7324,1.17,161.6,175.5,8.9,370,7329,0.12,2.40,0.00,0.000,6,0.068,0.032,3360,1758,1964,0,0,0,0,0,0
$GC,7592,1.17,161.6,150.8,8.7,391,7596,0.00,2.40,0.00,0.000,4,0.000,0.047,3361,360,1964,0,0,0,0,0,0
$GC,7686,1.06,164.6,142.9,7.6,398,7691,0.15,2.30,0.00,0.000,6,0.106,0.021,3332,1788,1962,0,0,0,0,0,0
$GC,7953,1.15,179.4,128.8,6.6,419,7974,0.00,2.50,15.77,0.584,4,0.000,0.046,3332,355,1898,0,0,0,0,0,0
$GC,8056,1.15,179.4,119.7,9.5,425,8061,0.00,2.30,0.00,0.000,6,0.000,0.021,3332,1780,1895,0,0,0,0,0,0
$GC,8315,1.28,200.9,102.8,6.0,446,8338,0.20,0.00,20.08,0.565,6,0.050,0.000,3389,1786,1811,0,0,0,0,0,0
$GC,8594,1.28,208.5,80.9,7.2,468,8609,0.00,2.50,8.27,0.485,4,0.000,0.044,3390,361,1778,0,0,0,0,0,0
$GC,8871,1.22,208.5,56.5,9.9,488,8876,0.12,2.30,0.00,0.000,6,0.107,0.019,3365,1794,1775,0,0,0,0,0,0
$GC,9138,1.30,208.5,31.6,9.0,509,9143,0.00,2.47,0.00,0.000,4,0.000,0.042,3365,349,1774,0,0,0,0,0,0
$GC,9255,1.30,208.5,20.6,9.6,532,9262,0.00,2.30,0.00,0.000,6,0.000,0.018,3365,1769,1774,0,0,0,0,0,0
$GC,9457,1.35,208.5,4.9,8.6,578,9464,0.12,2.45,0.00,0.000,4,0.064,0.043,3406,359,1774,0,0,0,0,0,0
$STATE,9474,end climb,SURFACE_DEPTH_REACHED
$STATE,9474,begin surface coast
$FINISH,0.8,1.023075
$STATE,9505,end surface coast,CONTROL_FINISHED_OK
$STATE,9505,begin surface
$SM_CCo,9530,107.90,0.486,0,0,957,410.14
$SM_GC,1.65,0.00,0.00,107.90,0.000,0.000,0.486,429,1697,957,-12.29,0.06,410.14
$IRIDIUM_FIX,2059.45,-15756.04,161199,171734
$TT8_MAMPS,0.029146
$HUMID,52.99
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.5,21.715
$10V_AH,10.3,17.579
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,33.350,108.275,233.325,107.900,0.000,54.849,55.778,616.138,4.500,0.000,14.739,1152.899,6172.735,433.410,1795.991,998.055,0.000,1195.688,0.000,1781.588,0.000,29.260,0.000
$DEVICE_MAMPS,134.225,55.224,818.389,485.511,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,395.408,381.621,907.346,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355880
$DATA_FILE_SIZE,31854,588
$CAP_FILE_SIZE,118834,0
$CFSIZE,260165632,200642560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220810,202730,2107.341,-15756.825,42,1.1,42,9.8